I want to make drone with mujoco but the problems is the error: more than 6 dofs in body

[jeongsukchul]

i want to have force and torque generator for that 8 rotors, but in mujoco xml
actuator can only defined by joints. I use slide joint to express force and use hinge joint to express torque.
then, i have to use 16 joints to generate that kinds of force.
I know the problem is because of the (position/velocity) actuator, so one body can't have more than 6 dofs.
Is there any way can I get through this?

[yuvaltassa]

actuator can only defined by joints

What gives you this idea?

You want a free joint with site actuators that apply a force/torque combination at the rotors.

I think @kevinzakka was working on a model?

[jeongsukchul]

Thank you for your advice.
https://mujoco.readthedocs.io/en/latest/models.html
https://github.com/deepmind/mujoco_menagerie
Is there appropriate model? It seems like they are all based on hinge joint.. I can't find the free joint you mensioned

[kevinzakka]

Have 2 more models I want to add to menagerie (skydio drone + hello stretch). Hopefully I get to them soon :)

[jeongsukchul]

Oh, I got it. I'll be looking forward to it! Thanks

[kevinzakka]

@jeongsukchul Model is now available here.